[go: up one dir, main page]

WO2011090755A3 - Mécanisme d'entraînement pour un véhicule guidé automatisé - Google Patents

Mécanisme d'entraînement pour un véhicule guidé automatisé Download PDF

Info

Publication number
WO2011090755A3
WO2011090755A3 PCT/US2010/062408 US2010062408W WO2011090755A3 WO 2011090755 A3 WO2011090755 A3 WO 2011090755A3 US 2010062408 W US2010062408 W US 2010062408W WO 2011090755 A3 WO2011090755 A3 WO 2011090755A3
Authority
WO
WIPO (PCT)
Prior art keywords
drive
agv
motor
steering
drive wheel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/US2010/062408
Other languages
English (en)
Other versions
WO2011090755A2 (fr
Inventor
Paul George Doan
Dean Colwell
Like Xu
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fori Automation Inc
Original Assignee
Fori Automation Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=44307493&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=WO2011090755(A3) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Fori Automation Inc filed Critical Fori Automation Inc
Priority to CA2785724A priority Critical patent/CA2785724C/fr
Priority to KR1020127019900A priority patent/KR101827956B1/ko
Priority to EP10844288.0A priority patent/EP2519421B1/fr
Publication of WO2011090755A2 publication Critical patent/WO2011090755A2/fr
Publication of WO2011090755A3 publication Critical patent/WO2011090755A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0418—Electric motor acting on road wheel carriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/30—Arrangement or mounting of transmissions in vehicles the ultimate propulsive elements, e.g. ground wheels, being steerable
    • B60K17/303—Arrangement or mounting of transmissions in vehicles the ultimate propulsive elements, e.g. ground wheels, being steerable with a gearwheel on the steering knuckle or kingpin axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/02—Steering linkage; Stub axles or their mountings for pivoted bogies
    • B62D7/023—Steering turntables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • B65G35/06—Mechanical conveyors not otherwise provided for comprising a load-carrier moving along a path, e.g. a closed path, and adapted to be engaged by any one of a series of traction elements spaced along the path

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Power Engineering (AREA)
  • Power Steering Mechanism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention porte sur un mécanisme d'entraînement pour véhicule guidé automatisé (AGV) comprenant une unité d'entraînement destinée à propulser le véhicule guidé automatisé (AGV) et une unité de direction destinée à diriger le véhicule guidé automatisé (AGV). L'unité d'entraînement comprend un moteur d'entraînement, une transmission d'entraînement, et une roue d'entraînement. L'unité de direction comprend un moteur de direction. Les deux moteurs sont montés de manière fixe sur le véhicule guidé automatisé (AGV) et restent stationnaires l'un par rapport à l'autre lorsque le moteur d'entraînement fait tourner la roue d'entraînement et que le moteur de direction dirige la roue d'entraînement. La transmission d'entraînement couple le moteur d'entraînement à la roue d'entraînement et peut être au moins partiellement montée dans un carter d'engrenages monté de manière rotative au moyen d'un palier afin que le moteur d'entraînement puisse être actionné pour déplacer le véhicule guidé automatisé (AGV) à l'aide de l'énergie transférée à la roue d'entraînement par la transmission d'entraînement, et afin que le moteur de direction puisse être actionné pour diriger la roue d'entraînement par rotation du carter d'engrenages et de la roue d'entraînement par l'intermédiaire du palier.
PCT/US2010/062408 2009-12-29 2010-12-29 Mécanisme d'entraînement pour un véhicule guidé automatisé Ceased WO2011090755A2 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CA2785724A CA2785724C (fr) 2009-12-29 2010-12-29 Mecanisme d'entrainement pour un vehicule guide automatise
KR1020127019900A KR101827956B1 (ko) 2009-12-29 2010-12-29 무인 반송차용 구동 기구
EP10844288.0A EP2519421B1 (fr) 2009-12-29 2010-12-29 Mécanisme d'entraînement pour un véhicule guidé automatisé

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US29073009P 2009-12-29 2009-12-29
US61/290,730 2009-12-29

Publications (2)

Publication Number Publication Date
WO2011090755A2 WO2011090755A2 (fr) 2011-07-28
WO2011090755A3 true WO2011090755A3 (fr) 2011-10-06

Family

ID=44307493

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2010/062408 Ceased WO2011090755A2 (fr) 2009-12-29 2010-12-29 Mécanisme d'entraînement pour un véhicule guidé automatisé

Country Status (5)

Country Link
US (1) US9359005B2 (fr)
EP (1) EP2519421B1 (fr)
KR (1) KR101827956B1 (fr)
CA (1) CA2785724C (fr)
WO (1) WO2011090755A2 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12030467B2 (en) 2019-06-26 2024-07-09 Abb Schweiz Ag Automated guided vehicle and method of controlling automated guided vehicle

Families Citing this family (35)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
BR112014000425A2 (pt) * 2011-07-08 2017-02-14 Boomerang Systems Inc montagem de direção e acionamento
CN103010011A (zh) * 2012-11-26 2013-04-03 苏州工业园区职业技术学院 一种自动引导车系统
US8859286B2 (en) 2013-03-14 2014-10-14 Viacyte, Inc. In vitro differentiation of pluripotent stem cells to pancreatic endoderm cells (PEC) and endocrine cells
CN103407517B (zh) * 2013-08-16 2015-06-17 成都四威高科技产业园有限公司 Agv底盘行驶机构
CN103895695B (zh) * 2014-03-24 2016-12-07 广州市远能物流自动化设备科技有限公司 舵轮驱动装置
EP3131497B1 (fr) 2014-04-16 2023-08-16 ViaCyte, Inc. Instruments destinés à être utilisés avec des dispositifs d'encapsulation implantables
CN103963637B (zh) * 2014-04-29 2017-08-25 浙江吉利控股集团有限公司 一种用于车辆的整体式转向驱动桥和电动车辆
KR101629000B1 (ko) 2015-01-28 2016-06-09 한국생산기술연구원 공연용 왜건 조향 장치
US9582001B1 (en) * 2015-10-07 2017-02-28 X Development Llc Motor system for vehicle steering and locomotion
US9771092B2 (en) * 2015-10-13 2017-09-26 Globus Medical, Inc. Stabilizer wheel assembly and methods of use
KR101734708B1 (ko) 2015-11-23 2017-05-11 기아자동차주식회사 무인 이송 대차
AU2017323648B2 (en) 2016-09-09 2021-12-09 Dematic Corp. Free ranging automated guided vehicle and operational system
JP7088564B2 (ja) 2016-11-10 2022-06-21 ヴィアサイト，インコーポレイテッド 細胞送達装置におけるｐｄｘ１膵臓内胚葉細胞及びその方法
CN106627122A (zh) * 2017-02-28 2017-05-10 武汉慧能机器人科技有限公司 全向差速驱动轮装置及agv小车
CN106864586A (zh) * 2017-03-08 2017-06-20 苏州易摩物联科技有限公司 Agv转向机构
US10391156B2 (en) 2017-07-12 2019-08-27 Viacyte, Inc. University donor cells and related methods
CN109305248A (zh) * 2017-07-27 2019-02-05 沈阳新松机器人自动化股份有限公司 舞台自动导引车
US10678242B2 (en) * 2017-11-30 2020-06-09 Facebook, Inc. Differential drive robotic platform and assembly
US10710404B2 (en) 2017-11-30 2020-07-14 Facebook, Inc. Driven caster wheel and assembly
CN108639185A (zh) * 2018-05-24 2018-10-12 汇专科技集团股份有限公司 一种单驱动舵轮式全向agv车
US10921819B2 (en) 2018-08-28 2021-02-16 Asi Technologies, Inc. Automated guided vehicle system and automated guided vehicle for use therein
CN109334360B (zh) * 2018-11-09 2024-05-10 博众精工科技股份有限公司 一种牵引对接机构
CN109515555A (zh) * 2018-12-27 2019-03-26 芜湖哈特机器人产业技术研究院有限公司 一种滚筒式自动导引运输车
CN110466303A (zh) * 2019-07-11 2019-11-19 安徽江淮银联重型工程机械有限公司 一种agv小车驱动机构
WO2022007717A1 (fr) * 2020-07-06 2022-01-13 杭州海康机器人技术有限公司 Module d'entraînement et véhicule guidé automatisé
CN112026466B (zh) * 2020-07-14 2022-06-03 广东博智林机器人有限公司 驱动单元与具有其的移动装置
KR20230074803A (ko) * 2020-09-30 2023-05-31 아우리스 헬스, 인코포레이티드 수술 테이블을 위한 동력 보조식 이동성
KR102264358B1 (ko) * 2020-11-09 2021-06-15 (주)신우유비코스 주차 수행 로봇의 움직임을 제어하기 위해 한쌍의 휠을 포함하는 드라이브 휠 장치 및 주차 수행 로봇
JP7591715B2 (ja) * 2020-11-27 2024-11-29 パナソニックＩｐマネジメント株式会社 移動体、搬送装置、部品実装システム及び移動体用の軸継手
CN112644360A (zh) * 2020-12-16 2021-04-13 天奇自动化工程股份有限公司 一种具有携载翻转功能的agv
CN112576711B (zh) * 2020-12-28 2022-05-17 科益展智能装备有限公司 数控转台皮带轮安装结构的安装方法
DE102021110085A1 (de) 2021-04-21 2022-10-27 SPN Schwaben Präzision Fritz Hopf GmbH Fahrantrieb
US20250152324A1 (en) 2022-02-25 2025-05-15 Viacyte, Inc. Multilayer implantable cell encapsulation devices and methods thereof
CN114771642B (zh) * 2022-03-29 2023-06-09 北京航空航天大学 一种全向移动机器人底盘的舵轮结构
CN115783588B (zh) * 2022-11-17 2025-07-25 江苏科瑞恩科技股份有限公司 一种穿梭车及仓储系统

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1097321A (ja) * 1996-09-24 1998-04-14 Mitsubishi Heavy Ind Ltd 無人搬送車の走行制御装置
JPH10207547A (ja) * 1997-01-21 1998-08-07 Toshiba Eng Co Ltd 無人搬送車
JP2002211201A (ja) * 2001-01-12 2002-07-31 Kaneda Kikai Seisakusho Ltd 無人搬送車
US20070256868A1 (en) * 2006-05-08 2007-11-08 Deere & Company, A Delaware Corporation Steering Mechanism for self-propelled mower

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4519466A (en) * 1982-03-30 1985-05-28 Eiko Shiraishi Omnidirectional drive system
DE3420146C2 (de) * 1984-05-30 1986-11-27 Carl Hurth Maschinen- und Zahnradfabrik GmbH & Co, 8000 München Lenkkettenanschluß
US4733737A (en) * 1985-08-29 1988-03-29 Reza Falamak Drivable steerable platform for industrial, domestic, entertainment and like uses
US6109424A (en) 1997-03-20 2000-08-29 Fori Automation, Inc. Chassis/body marriage lift machine
US6491127B1 (en) * 1998-08-14 2002-12-10 3Com Corporation Powered caster wheel module for use on omnidirectional drive systems
SE525970C2 (sv) * 2002-01-22 2005-06-07 Visual Act Scandinavia Ab En drivenhet och ett motordrivet fordon
DE102005047958A1 (de) * 2005-10-06 2007-06-14 Jungheinrich Ag Antriebs- und Lenkvorrichtung für ein Flurförderzeug
US7789175B2 (en) * 2005-10-11 2010-09-07 Cycogs, Llc Modular dual wheel drive assembly, wheeled devices that include modular dual wheel drive assemblies and methods for moving and/or maneuvering wheeled devices using modular dual wheel drive assemblies
WO2010039102A1 (fr) * 2008-09-30 2010-04-08 Agency For Science, Technology And Research Ensemble roue pivotante motorisée
BRPI1006813A2 (pt) * 2009-01-17 2016-04-12 Boomerang Systems Inc sistema de armazenamento automático e veículo de transporte

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1097321A (ja) * 1996-09-24 1998-04-14 Mitsubishi Heavy Ind Ltd 無人搬送車の走行制御装置
JPH10207547A (ja) * 1997-01-21 1998-08-07 Toshiba Eng Co Ltd 無人搬送車
JP2002211201A (ja) * 2001-01-12 2002-07-31 Kaneda Kikai Seisakusho Ltd 無人搬送車
US20070256868A1 (en) * 2006-05-08 2007-11-08 Deere & Company, A Delaware Corporation Steering Mechanism for self-propelled mower

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12030467B2 (en) 2019-06-26 2024-07-09 Abb Schweiz Ag Automated guided vehicle and method of controlling automated guided vehicle

Also Published As

Publication number Publication date
EP2519421B1 (fr) 2018-12-12
EP2519421A2 (fr) 2012-11-07
KR20120112664A (ko) 2012-10-11
EP2519421A4 (fr) 2017-04-05
WO2011090755A2 (fr) 2011-07-28
CA2785724A1 (fr) 2011-07-28
US9359005B2 (en) 2016-06-07
KR101827956B1 (ko) 2018-02-12
US20120006609A1 (en) 2012-01-12
CA2785724C (fr) 2019-03-05

Similar Documents

Publication Publication Date Title
WO2011090755A3 (fr) Mécanisme d'entraînement pour un véhicule guidé automatisé
CN102689650B (zh) 循环球式动力转向系统
WO2009010943A3 (fr) Moteur électrique à induit extérieur, avec ou sans transmission à planétaires, véhicule automobile doté d'un moteur électrique à induit extérieur et procédé d'utilisation de ce véhicule
WO2011083936A3 (fr) Connecteur de rouleau de direction pour un véhicule
WO2011047985A3 (fr) Moteur électrique pour un essieu électrique d'un véhicule à moteur
JP5683876B2 (ja) ステアバイワイヤー装置
WO2008146372A1 (fr) Boîtier de direction de véhicule
WO2011100631A3 (fr) Entraînement de type à nacelle réglable
KR101361395B1 (ko) 차량의 스티어링 시스템에 사용되는 작동장치
JP2013167350A5 (fr)
JP2013177955A5 (fr)
CN216102359U (zh) 一种汽车电动助力系统传动装置
JP2011131777A5 (fr)
CN100513240C (zh) 电动机驱动的助力转向系统
WO2009005039A1 (fr) Commande de direction pour simulateur de conduite et simulateur de conduite
CN112714734A (zh) 带有转向功能的轮毂单元以及具有该轮毂单元的车辆
EP2267337A3 (fr) Dispositif d'entraînement pour un véhicule
WO2012078719A3 (fr) Appareil destiné à être utilisé pour faire tourner des roues directrices d'un véhicule
WO2010104548A3 (fr) Ensemble montage pour moteur de fraise
WO2011139059A3 (fr) Bicyclette à direction par roue arrière
CN201989844U (zh) 电动叉车及搬运设备用转向系统
WO2011032544A3 (fr) Bicyclette à direction assistée
CN211918355U (zh) 一种立式舵轮总成
CN102167078B (zh) 电动叉车用转向系统
ATE512861T1 (de) Elektrische servolenkung mit angetriebener lenkwelle

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 10844288

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2785724

Country of ref document: CA

NENP Non-entry into the national phase

Ref country code: DE

WWE Wipo information: entry into national phase

Ref document number: 2010844288

Country of ref document: EP

ENP Entry into the national phase

Ref document number: 20127019900

Country of ref document: KR

Kind code of ref document: A